amino
1.0beta2
Lightweight Robot Utility Library

Memory layout for a transformation matrix. More...
#include <type.h>
Public Attributes  
union {  
struct {  
double R [9]  
the rotation matrix part  
aa_tf_vec3_t v  
the origin vector part  
}  
double data [12]  
data array  
};  
Memory layout for a transformation matrix.
It is a columnmajor matrix, but the bottom row is omitted because this row is the same for all SE(3) transformation matrices.
The first 9 elements are a column major rotation matrix. The last 3 elements are the origin vector.